| 复杂柔性车载液压机械手弹性动力学建模方法研究 |
| |
| 引用本文： | 马振书,梅涛. 复杂柔性车载液压机械手弹性动力学建模方法研究[J]. 中国机械工程, 2010, 0(2) |
| |
| 作者姓名： | 马振书 梅涛 |
| |
| 作者单位： | 中国科学院合肥智能机械研究所;中国科学技术大学;军械技术研究所; |
| |
| 基金项目： | 国家863高技术研究发展计划资助项目(2001AA422420) |
| |
| 摘 要： | 利用动态子结构法研究一种柔性车载液压机械手的弹性动力学建模方法。考虑机械手动态设计和振动主动控制的实现,根据机械手各部件的实际边界约束条件,将机械手系统分解成由不同约束的连续梁构成的9个子结构,且在液压作动器的作用点设置约束模态坐标,以方便机械手振动主动控制方程的导出。在建立各子结构的动力学控制方程后,借助边界条件经综合得到系统的动力学模型。该方法易于实现、计算效率高,便于讨论结构参数对低阶模态的影响规律,也为机械手的振动控制提供了理论基础。
|
| 关 键 词： | 柔性车载机械手 动力学建模 子结构综合 固有频率 |
Study on the Dynamic Modeling of a Complex Flexible Hydraulic Robot System Carried by Vehicle |
| |
| Ma Zhenshu,, Mei Tao. Study on the Dynamic Modeling of a Complex Flexible Hydraulic Robot System Carried by Vehicle[J]. China Mechanical Engineering, 2010, 0(2) |
| |
| Authors: | Ma Zhenshu Mei Tao |
| |
| Affiliation: | Ma Zhenshu1,2,3 Mei Tao1,21.Institute of Intelligent Machines,Chinese Academy of Sciences,Hefei,230031 2.University of Science Technology of China,2300263.Institute of Ordnance Technology,Shijiazhuang,050000 |
| |
| Abstract: | The CMS method was used in the elastic dynamics modeling of a vehicle flexible robot system.On the basis of dividing the whole system into nine substructures and establishing their dynamics models respectively,the whole dynamics equation of the system was derived according to the boundary constraints.The substructures were looked as several beams with different constraints.The method enjoys the advantages of simplicity and high efficiency, which is convenient to study the influences of the geometrical param... |
| |
| Keywords: | flexible vehicle robot dynamics modeling component mode synthesis(CMS) natural frequency |
| 本文献已被 CNKI 等数据库收录！ |
|
